/**
 * @file	topic.h
 * @author	Michiel Hegemans
 * @author	Peter Evers
 * @date	November 12, 2012
 * @brief	List of used topics.
 *
 * All topics used for the robot are here.
 *
 */

#ifndef TOPIC_H_
#define TOPIC_H_

#include <iostream>

/**
 * Namespace for all topics used.
 */
namespace Topic {
	extern std::string JOINTSTATES;			/*!< Publisher for joint states. */
	extern std::string NAV_VELOCITY;		/*!< Topic for Navigation */
	extern std::string NAV_LINEAR;			/*!< Topic for linear position navigation. */
	extern std::string NAV_ANGULAR;			/*!< Topic for angular position navigation. */

	extern std::string EMO_STATE;			/*!< Emotion State. */

	extern std::string EMO_HANDLER_EARS	;	/*!< Emotion Handler Ear control. */
	extern std::string EMO_HANDLER_EYES	;	/*!< Emotion Handler Eye control. */
	extern std::string EMO_HANDLER_TRUNK;	/*!< Emotion Handler Trunk control. */
	extern std::string EMO_HANDLER_BROW	;	/*!< Emotion Handler Eyebrow control. */
	extern std::string EMO_HANDLER_GRIPPER;	/*!< Emotion Handler Gripper control. */

	extern std::string PS3_JOY;				/*!< Topic for PS3 Controller */
	extern std::string AR_POSE;

	extern std::string MOTOR_EARS;			// motor topic ears
	extern std::string MOTOR_TRUNK;			// motor topic trunk
	extern std::string MOTOR_BROW;			// motor topic eyebrows
	extern std::string MOTOR_GRIPPER;		// motor topic gripper

	extern std::string GRIPPER_STATUS;		/*!< Topic for gripper position status. */
	extern std::string TRUNK_STATUS	;		/*!< Topic for trunk position status. */
	extern std::string EARS_STATUS;			/*!< Topic for ears position status. */
	extern std::string EYEBROWS_STATUS;		/*!< Topic for eyebrow position status. */
	extern std::string WHEELS_STATUS;		/*!< Topic for wheel speed status. */

	extern std::string SENSOR_GRIPPER;		// sensor on the gripper
	extern std::string EYES_LEFT_YAW;
	extern std::string EYES_RIGHT_YAW;
	extern std::string EYES_PITCH;

	extern std::string EYES_LEFT_STATUS;
	extern std::string EYES_RIGHT_STATUS;
	extern std::string EYES_PITCH_STATUS;
}

#endif /* TOPIC_H_ */
